If a router has a VPN module then the encryption/decryption process is done in hardware, using the VPN module. If no module is present then the encryption/decryption process is done in software, using the router's cpu to accomplish this task.
IOS images supporting IPSec 3DES normally has "k9" as part of the IOS image name, ie: c1700-k9sy-mz.122-28.bin
As you can see, the part -k9sy- indicates it supports IPSec 3DES because it has the "k9" keyword as part of the IOS image name. Like joamon explained, the IOS running on the router can be gathered using the show version command.